Analysis of kinematic singularities for robot manipulators in Cartesian coordinate parameters

The authors analyze the singularity states of robot manipulators; only the manipulator inverse kinematic relationships are considered. In such relationships, three types of triangular equations arise for the kinematically general manipulator with the nominal decoupling conditions as found in conventional robots. These equations reveal the manipulator structural properties and the Cartesian configurations of the end effector in which the manipulator is singular; they may be used to determine the singularity states of a given trajectory. The method of singularity analysis presented is applicable to robots with six or less degrees of freedom.<<ETX>>

[1]  Pyung Chang,et al.  A closed-form solution for the control of manipulators with kinematic redundancy , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[2]  Joonhong Lim,et al.  FOR KINEMATIC CONTROL OF REDUNDANT MANIPULATORS , 1988 .

[3]  Daniel E. Whitney,et al.  Resolved Motion Rate Control of Manipulators and Human Prostheses , 1969 .

[4]  Tsuneo Yoshikawa,et al.  Analysis and Control of Robot Manipulators with Redundancy , 1983 .

[5]  R. Paul.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[6]  Richard P. Paul,et al.  Kinematics of Robot Wrists , 1983 .

[7]  A. Morgan,et al.  Solving the Kinematics of the Most General Six- and Five-Degree-of-Freedom Manipulators by Continuation Methods , 1985 .

[8]  S. Shankar Sastry,et al.  Dynamic control of redundant manipulators , 1989, J. Field Robotics.

[9]  Charles A. Klein,et al.  Review of pseudoinverse control for use with kinematically redundant manipulators , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[10]  Daniel C. H. Yang,et al.  A New Method for the Singularity Analysis of Simple Six-link Manipulators , 1986 .

[11]  Yoshihiko Nakamura,et al.  Inverse kinematic solutions with singularity robustness for robot manipulator control , 1986 .

[12]  A. Liegeois,et al.  Automatic supervisory control of the configuration and behavior of multi-body mechanisms , 1977 .

[13]  J. Denavit,et al.  A kinematic notation for lower pair mechanisms based on matrices , 1955 .

[14]  Joseph Duffy,et al.  Special configurations of spatial mechanisms and robot arms , 1982 .

[15]  J. Y. S. Luh,et al.  Industrial robots with seven joints , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.